Variables

Variables of the trajectory optimization problem. More...

## Classes | |

class | towr::NodesVariables |

Position and velocity of nodes used to generate a Hermite spline. More... | |

class | towr::NodesVariablesAll |

Node variables used to construct the base motion spline. More... | |

class | towr::NodesVariablesEEForce |

Variables fully defining the endeffector forces. More... | |

class | towr::NodesVariablesEEMotion |

Variables fully defining the endeffector motion. More... | |

class | towr::NodesVariablesPhaseBased |

Nodes that are associated to either swing or stance phases. More... | |

class | towr::PhaseDurations |

A variable set composed of the phase durations of an endeffector. More... | |

## Namespaces | |

namespace | towr::id |

Identifiers (names) used for variables in the optimization problem. |

Variables of the trajectory optimization problem.

These are the quantities through which the optimization problem is parameterized.

Folder: include/towr/variables.